            {})))
 
      angelic/ImplicitAngelicAction 
-     (precondition-context-set [a ss] (env/precondition-context a (state-set/some-element ss)))  
+     (precondition-context-set [a ss] (reach-context (state-set/get-known-var ss :const)
+                                                     (state-set/get-known-var ss [:base])))  
      (can-refine-from-set? [a ss] (state-set/vars-known? ss [[:gripper-offset]]))
      (immediate-refinements-set- [a ss]
        (for [p (hierarchy/immediate-refinements- a (state-set/some-element ss))]

  (pessimistic-map- [_ s] {})

  angelic/ImplicitAngelicAction 
  (precondition-context-set [a ss] (env/precondition-context a (state-set/some-element ss)))  
  (can-refine-from-set? [a ss] true)
  (immediate-refinements-set- [a ss]
    (let [const (state-set/get-known-var ss :const)

  (pessimistic-map- [_ s] {})

  angelic/ImplicitAngelicAction 
  (precondition-context-set [a ss] (conj (reach-context (state-set/get-known-var ss :const)
                                                        (state-set/get-known-var ss [:base]))
                                         [:pos o] [:at-goal? o] [:holding]))  
  (can-refine-from-set? [a ss] true)
  (immediate-refinements-set- [a ss]
   (for [p (hierarchy/immediate-refinements- a (state-set/some-element ss))][{} p]))
